GoalUpdater

A custom control node, which updates the goal pose. It subscribes to a topic in which it can receive an updated goal pose to use instead of the one commanded in action. It is useful for dynamic object following tasks.

Parameters

goal_updater_topic

Type	Default
string	“goal_update”

Description: The topic to receive the updated goal pose

Input Ports

input_goal

Type	Default
geometry_msgs/PoseStamped	N/A

Description: The original goal pose

output_goal

Type	Default
geometry_msgs/PoseStamped	N/A

Description: The resulting updated goal. If no goal received by subscription, it will be the input_goal

Example

<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
  <!--Add tree components here--->
</GoalUpdater>